IMU ENCODER

Example embodiments of the present disclosure relate to an electronic device, a method, apparatus, a computer readable storage medium and a computer program product for an IMU encoder. In the solution, a pre-trained IMU encoder which is determined together with a plurality of modality encoders based on a multi-modality dataset may be obtained. A model output is further determined by inputting a model input into the pre-trained IMU encoder, wherein the model input is indicative of data being derived from one or more IMU sensors. In addition, the model output can be provided to a downstream task. As such, a plurality of modality encoders may be used for determining the pre-trained IMU encoder, thus multiple learning objectives may be incorporated in the pre-training process.